Sensing device

ABSTRACT

A sensing device including a sensor, a triggering mechanism is provided. The sensing device is attachable to a covering positioned in contact with a body such that the triggering mechanism extends between first and second segments of the body. Movement of at least one of the first and second segments activates the triggering mechanism to provide an input to the sensor, actuating the sensor to generate an output defining at least one measurement of the movement. The measurement may be one or more of rotation, translation, velocity, acceleration, and joint angle. An intermediate mechanism may be interposed between the triggering mechanism and the sensor. The sensing device may include a means to process or record measurements corresponding to movement. A system and method of measuring the movement is also provided.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Non-Provisional applicationSer. No. 15/590,455 filed on May 9, 2017, which is a continuation ofU.S. Pat. No. 9,668,675 issued Jun. 6, 2017, which is a continuation ofU.S. Pat. No. 8,880,358 issued Nov. 4, 2014, which claims priority toexpired U.S. Provisional Patent Application No. 61/325,078 filed on Apr.16, 2010, each hereby incorporated by reference in its entirety.

TECHNICAL FIELD

The present invention relates to the field of biomechanics and morespecifically to measurement of movements of body segments.

BACKGROUND

The performance of a skilled task requires coordinated intra-limb andinter-limb movement patterns. Performing a task a multitude of times ordeviating from a specific coordinated pattern can result in anundesirable task being performed or an injury to the performer.Deviation from a desired coordination pattern can be the result of manyfactors including, but not limited to, performer fatigue, the skilllevel of the performer, difficulty of the desired task or changingenvironmental conditions. Knowledge relating to the position of thejoints during the performance of a task can be beneficial to identifyand classify patterns of movement inherent in particular tasks. Whenpatterns of movement are identified, it is similarly desirable toidentify when a particular movement has occurred, how many times thatmovement has occurred and several other characteristics that candescribe the particular motion.

Observation, assessment and interpretation of movements are routinelyused by coaches, therapists, clinicians, ergonomics engineers andbiomechanists to identify patterns in joint movements. This process canbe subjective and generally relies on the skill of the observer toidentify relationships in joint movements, to distinguish betweenchanges in movements and to count the amount of movements performed.Using subjective measures by an observer introduces accuracy,repeatability and validity concerns when evaluating limb movements.Further, subjective measures can be difficult to implement due to costsassociated with observation time.

Instrumentation of limbs to objectively observe motions is currentlyused to address some of the above mentioned limitations; however,instrumentation of the limbs has limitations. For example, currentmethods of instrumentation of limbs can be obtrusive to the performer,costly to implement and can seldom be readily used outside a laboratorycondition in a reliable manner.

SUMMARY

A sensing device and system for measuring movement of a moving segmentof a body relative to a reference segment of the body is provided. Thesensing device includes a covering configured to be positioned incontact with a body, the covering including a first covering portion anda second covering portion. The first covering portion is configured tobe positioned in contact with a moving segment of a body, and the secondcovering portion is configured to be positioned in contact with areference segment of the body. The sensing device further includes asensor operatively attached to the second covering portion, and atriggering mechanism operatively attached at a first end to the firstcovering portion and operatively connected at a second end to thesensor. The triggering mechanism extends from the moving segment to thereference segment and across a joint center located between the movingsegment and the reference segment when the covering is positioned incontact with the body. The sensing device is configured such that whenthe covering is positioned in contact with the body, movement of themoving segment activates the triggering mechanism to provide a forceinput to the sensor. The force input actuates the sensor to generate anoutput defining at least one measurement of the movement of the movingsegment.

The sensing device may further include a processor configured to receiveand process the output. By way of non-limiting example, the sensingdevice may be configured to be in contact with a body where the movingsegment is one of adjacent or non-adjacent to the reference segment,and/or one of contralateral or ipsilateral to the reference segment,and/or one of proximal or distal to the joint center between the movingsegment and the reference segment. The sensing device may be configuredto measure one or more of a joint angle, a translation distance, amovement velocity, a movement acceleration, and a count of the number ofrepetitions of the movement. The sensing device may include a removablestorage device configured to receive the output from the sensor suchthat the output can be transferred to a remote device. In a non-limitingexample, the sensing device may be configured for wireless communicationwith a remote device such that the output can be transferred wirelesslyto the remote device.

In an optional configuration, an intermediate mechanism may beoperatively attached to the second end of the triggering mechanism andconfigured to be in selective communication with the sensor, such thatmovement of the moving segment activates the triggering mechanism toprovide a force input to the intermediate mechanism. The intermediatemechanism may be configured to transfer the force input from the sensorwhen the force input meets a predetermined threshold, and to isolate theforce input from the sensor when the force input does not meet thepredetermined threshold.

The system for measuring movement of a moving segment of a body relativeto a reference segment of the body includes a sensing device formeasuring the movement, and may additionally include a processor, andone or more of an output device, a storage device, and a computingdevice in communication with the sensing device and/or processor. Thesystem may be configured with a plurality of sensing devices, sensorsand/or triggering mechanisms. A method for measuring movement of amoving segment of a body is also provided.

The above features and advantages and other features and advantages ofthe present invention are readily apparent from the following detaileddescription of the best modes for carrying out the invention when takenin connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic illustration of a system including a sensingdevice;

FIG. 2A is a schematic view of a body including a body segment in aposition corresponding to a first joint angle and in contact with thecovering shown in further detail in FIG. 2B;

FIG. 2B is a schematic view of the body of FIG. 2A with the body segmentin a position corresponding to a second joint angle, and the sensingdevice of FIG. 1 including the covering of FIG. 2;

FIG. 3A is a schematic view of a body in contact with a sensing deviceconfigured to measure a joint angle defined by non-adjacent segments,the body in a position corresponding to a first joint angle;

FIG. 3B is a schematic view of the body and sensing device of FIG. 3A,the body in a position corresponding to a second joint angle;

FIG. 4A is a schematic partial view of the sensing device of FIG. 1,including a connector in a first configuration;

FIG. 4B is a schematic partial view of the sensing device of FIG. 1,including a connector in a second configuration;

FIG. 4C is a schematic partial view of the sensing device of FIG. 1,including a connector in a third configuration;

FIG. 4D is a schematic partial view of the sensing device of FIG. 1,including a connector in a fourth configuration;

FIG. 5A is a schematic view of a knee joint and a sensing deviceincluding a triggering mechanism integrated into the covering of thesensing device and configured to measure rotation of the knee joint;

FIG. 5B is a schematic view of a knee joint and a sensing deviceincluding a triggering mechanism attached to the covering of the sensingdevice;

FIG. 6A is a schematic view of a knee joint in a first position and incontact with a sensing device configured to measure translation of theknee joint;

FIG. 6B is a schematic view of the sensing device and knee joint of FIG.6A, the knee joint translated to a second position;

FIG. 6C is a schematic view of a knee joint and a sensing device, thesensing device including a plurality of covering portions and configuredto measure translation of the knee joint;

FIG. 7A is a schematic plan view of a hand in contact with a pluralityof sensing devices;

FIG. 7B is a schematic partial view of a portion of the hand of FIG. 7A,with the finger joint including the sensing device in a second position;

FIG. 8A is a schematic partial view of a sensing device of FIG. 7showing the connector in additional detail;

FIG. 8B is a schematic partial view of the sensing device of FIG. 7showing an alternative configuration of the connector including anintermediary triggering mechanism; and

FIG. 9 is a schematic view of a hand in contact with a sensing device;and

FIG. 10 is a schematic view of a hand in contact with a sensing device,the sensing device including a plurality of triggering mechanisms.

DETAILED DESCRIPTION

Provided herein is a sensing device including a covering, which may beused to instrument a body to measure movement of a limb, segment orjoint center of the body. A system including the sensing device isprovided, and shown schematically in FIG. 1. A plurality or combinationsof sensing devices may be configured in a covering to measure themovement of a combination of the limbs, segments and joint centers whichare in contact with the covering. Alternately, a combination of sensingdevices may be used in combination and the measurements obtainedtherefrom analyzed in combination to monitor and/or determine patternsof movement of a body.

Referring now to FIGS. 1, 2A and 2B, shown generally at 40 is an examplesystem including a sensing device 16. As shown in FIG. 1 and in anon-limiting example in FIG. 2B, the sensing device 16 includes a sensor19 and a triggering mechanism 12, which are each operatively attached toa covering 15. The covering 15 includes a first covering portion 24 anda second covering portion 26. The sensing device 16 is configured suchthat the first covering portion 24 may be positioned in contact with amoving segment 17 of a body 10, and such that the second coveringportion 26 may be positioned in contact with a reference segment 18 ofthe body 10. The sensor 19 is operatively attached to the secondcovering portion 26, and is operatively connected to a first end of thetriggering mechanism 12 at an attachment or input interface 11. Thetriggering mechanism 12 may be made of an elastic material, which may beconfigured as an elastic cord, band, strap or segment or other materialor of another configuration capable of exerting a force input, e.g., aload on the sensor 19 when activated by a movement of the body 10. Thesecond end of the triggering mechanism 12 is operatively connected tothe input interface 11 of the sensor 19 by one or more of stitching,sewing, gluing, clamping, knitting, clipping, snapping, or otherwiseoperatively affixing the second end of the triggering mechanism 12 tothe sensor 19. The direction of the force input exerted by thetriggering mechanism 12 on the input interface 11 of the sensor 19 mayvary with the configuration of the sensing device 16. In the examplesdescribed herein, the force input is typically configured as a tensileload exerted on the sensor 19, however these examples are not intendedto be limiting.

The triggering mechanism 12 is attached at the second end to the firstcovering portion 24 at an attachment 13, such that when the covering 15is positioned in contact with the body 10, the elastic material of thetriggering mechanism 12 extends from the first covering portion 24 incontact with the moving body segment 17 to the sensor 19 attached to thesecond covering portion 26 in contact with the reference body segment18, and across a joint center 14 located between the moving body segment17 and the reference body segment 18. The attachment 13 of the end ofthe triggering mechanism 12 to the covering 15 may be made by one ormore of stitching, sewing, gluing, clamping, knitting, clipping andsnapping or otherwise affixing the first end of triggering mechanism 12to the first portion 24 of the covering 15. The elastic materialtriggering mechanism 12 and the sensor 19 are configured such that, whena performer (shown in FIG. 2A as the body 10) wearing the sensing device16 moves, the covering 15, including the first and second portions ofthe covering 24, 26, moves with the moving body segment 17 and relativeto the reference body segment 18 to activate the triggering mechanism12. The sensing device 16 may be configured such that when the jointangle θ(see FIGS. 2A and 2B) is at its minimum, the triggering mechanism12 is preloaded to provide a preload force to the sensor 19. For theexample shown in FIG. 2B, the preload would be configured as a minimaltensile load on sensor 19 when θ approaches zero degrees (not shown).The activated triggering mechanism 12 exerts a force on the sensor 19,which actuates the sensor 19 causing the sensor 19 to generate a signalcorresponding to the movement of the moving segment 17 and, in theexample shown in FIGS. 2A-2B, corresponding to changes in the jointangle θ defined by the moving body segment 17, the reference bodysegment 18 and the joint 14 located therebetween.

The sensor 19 may include one or a combination of an accelerometer, apiezoelectric crystal, a piezoelectric film, a piezo-resistive film, astrain gauge or a similar sensing mechanism capable of converting aninput load into an output signal. The output signal may be used tomeasure the movement of the moving segment 17 relative to the referencesegment 18, to derive a translation distance, to derive the joint angleof a joint included between the segments 17, 18, and/or to derive avelocity of the movement, and or/or derive an acceleration of themovement. A plurality of output signals, each corresponding to amovement, may be collected, logged and/or stored, and/or used to analyzepatterns of movement and/or to count the number of repetitions of amovement. As described previously, the sensor 19 may be operativelyattached to a second portion 26 of the covering 15 in contact with thereference body segment 18. Alternatively, the sensor 19 may beconfigured such that sensor 19 is connected or mounted to a circuitboard, or may be integrated with a means for signal processing, such asa processor 20, or with a storage device, which may be configured as aremovable memory device, or a combination of these. In such aconfiguration, for example, sensor 19 may be operatively attached tocovering 15 by attaching the circuit board, processor, storage device orother mechanism with which sensor 19 is integrated or connected to thecovering 15.

Referring to FIG. 2A, shown generally at 10 is a body, which may also bereferred to herein as a performer or a wearer, including a moving bodysegment 17, a reference body segment 18 and a joint center 14. Themoving body segment 17 may also be referred to as the first body segmentor the moving segment. The reference body segment 18 may also bereferred to as the second body segment or the reference segment. Forillustrative purposes and by way of non-limiting example, in FIGS. 2Aand 2B the moving body segment 17 is an arm, the reference body segment18 is a torso, and the joint 14 located between moving body segment 17and adjacent body segment 18 is a shoulder joint 14. The position of thearm 17 relative to the torso 18, and the shoulder joint 14 define ajoint angle indicated as θ, the endpoint of which is the center ofshoulder joint 14. A sensing device 16, shown in FIG. 2B, is configuredto measure the actions and movements of moving segment 17 relative tothe shoulder joint generally indicated at 14 and relative to thereference segment 18.

As the moving segment 17 is moved, at least a portion of the covering15, including the first covering portion 24 moves with the movingsegment 17, activating the triggering mechanism 12 and causingtriggering mechanism 12, which in the example provided is an elasticband or cord, to stretch and contract corresponding to movements ofmoving segment 17, thus imparting various loads on sensor 19 as movingsegment 17 moves. The triggering mechanism 12 is typically configured toexert a tensile load on the sensor 19, where changes in the tensile loadcorrespond to movement of the moving body segment 17, such as themovement from a first joint angle θ₁ corresponding to a first positionof the moving segment 17 shown in FIG. 2A to a second joint angle θ₂corresponding to a second position of the moving segment 17 shown inFIG. 2B.

The sensing device 16 may be configured such that the triggeringmechanism 12 provides a force input directly to the sensor 19, as shownin FIG. 2B. In an optional configuration, the sensing device 16 mayinclude an intermediate mechanism 22 (see FIGS. 1, 4A-4D and 8A-8B)interposed between the triggering mechanism 12 and the sensor 19, whichmay be configured with a cam-type mechanism, electronic circuitry, oranother mechanism, such that input forces (loads) generated by thetriggering mechanism 12 which do not meet a predetermined threshold arefiltered or isolated from the sensor 19 so as not to produce a signal orsensor response. As will be described in further detail, theintermediate mechanism 22 is configured such that an input forcegenerated by the triggering mechanism 12 which does meet thepredetermined threshold is transferred or otherwise transmitted via theintermediate mechanism 22 to the input interface 11 of the sensor 19.

Referring to FIGS. 2A and 2B, when movement of the moving segment 17occurs, such as the movement of arm 17 and shoulder joint 14 from theposition shown in FIG. 2A to the position shown in FIG. 2B, the jointangle θ of joint center 14 is altered from θ₁ to θ₂ and the length ofelastic material of triggering mechanism 12 changes, altering thetensile force applied in the material of the triggering mechanism 12consistent with Hooke's Law. Alternatively, referring now to FIGS. 6Aand 6B, when movement of a moving segment 17 occurs, such as themovement of the moving segment (lower leg) 17 relative to the referencesegment (upper leg) 18 and movement of the knee joint 14 from theposition shown in FIG. 6A to the position shown in FIG. 6B, the jointposition of the joint center 14 is altered such that the length X of theelastic material comprising the triggering mechanism 12 changes,altering the tensile force applied to the sensor 19. Changes in jointangle θ(t) and changes in the translation distance T(t) correspond tochanges in length X(t) of the elastic material of the triggeringmechanism 12 which correspond to changes in force F(t) applied to thesensor 19. The change in force F(t) corresponds to a change in voltageoutput V(t) from the sensor 19 producing the relationship modeled inequation (1), assuming the triggering mechanism 12 has a springcoefficient k.

kT(t)+kθ(t)≅kX(t)≅F(t)≅V(t)  (1)

When an intermediate mechanism 22 is interposed between the triggeringmechanism 12 and the input interface 11 of the sensor 19, as describedherein, the intermediate mechanism 22 produces a force F(s) on thesensor 19 which correspond to a change in voltage output V(t) from thesensor 19 which can be modeled by equation (2), assuming the triggeringmechanism 12 has a spring coefficient k.

kT(t)+kθ(t)≅kx(t)≅F(t)→F(s)→V(t)  (2)

Additionally, it should be recognized that the use of the abovementioned sensor 19 attached to the covering 15 about a moving segment17 can produce a signal independent of a triggering mechanism 12 whichmight also be useful in analysis of the joint movement in question.

Referring again to FIG. 1, the system 40 may include a processor 20, anoptional output device 34, and a computing device 36. It would beunderstood that one or more of these devices 20, 34, 36 may beconfigured to perform some or all of the functions of one or more of theother devices, and that the system 40 configured as illustrated by FIG.1 is not intended to be limiting. For example, the computing device 36may be configured to perform some or all of the output and processingfunctions of the output device 34 and the processor 20, respectively.One or more of the output device 34, the computing device 36, and theprocessor 20, may be referred to herein as a remote device, when thedevice is so configured as remote from the sensing device 16 within thesystem 40, e.g., when device which is not physically connected to thesensing device 16 by wiring, cables, or other physical means.

The system 40 may include a storage device (not shown) which may beconfigured to include, by way of example, Read Only Memory (ROM), RandomAccess Memory (RAM), electrically-erasable programmable read only memory(EEPROM), etc., of a size and speed sufficient for logging and storingthe output signals and measurements generated by the sensing device 16,and as required, for performing analysis of the logged and/or storedinformation using the processor 20 and/or the computing device 36. Oneor more of the sensing device 16, the processor 20, the output device 34and the computing device 36 may be configured as or to include a storagedevice or memory.

By way of non-limiting example, the storage device may be configured asa USB, a USB cable, a flash drive, a memory chip, or other removablememory device. The sensing device 16 may be configured in communicationwith the removable storage device such that output signals and/ormeasurements may be received, stored and/or logged to the removablememory device during actuation of the sensor 19 by a movement of thebody 10 activating the triggering device 12. The removable storagedevice may be removed from the sensing device 16 and placed incommunication with one or more remote devices, such that storage andtransfer of the information (signals, measurements) logged and/or outputfrom the sensing device 16 to the remote device for storage, display,analysis, etc. can easily occur.

In another non-limiting example, the sensing device 16 may be configuredfor contactless or wireless communication with a remote device, usingBluetooth, RFID, Wi-Fi, or any other near field communication means. Thesensing device 16 may be configured such that the output signal from thesensor 19 and/or measurement derived therefrom is transmitted to one ormore remote devices in real time, e.g., as the output signal isgenerated by actuation of the sensor 19 caused by activation of thetriggering mechanism 12 by movement of the moving segment 17. Thesensing device 16 may be configured to receive signals and/orinformation transmitted wirelessly from a remote device to the sensingdevice 16.

The output device 34 may be configured to display the signal and/or themeasurement generated by the sensing device 16, a plurality of signalsand/or measurements logged and/or stored within the system 40, a countof the movements or repetitions thereof measured by the sensing device16, results of analysis of the logged data, which may includeidentification and analysis of patterns of movement, etc. The outputdevice 34 may be configured to display the information as describedpreviously, and/or may be configured to display messages and/or alerts.The output device 34 may be configured to provide output configured asone or a combination of an audio output, a visual output, anaudio-visual output, an electronic output, and a printed output. Theoutput may be provided as a message or alert, for example, to the wearerof the sensing device 16, to notify the wearer 10 of information relatedto the wearer's movements as measured by the sensing device 16 or tocommunicate status relative to a predetermined rule, threshold orcondition corresponding to the wearer's movements, as measured by thesensing device 16, to the wearer. Non-limiting examples of messages oralerts which may be provided to a wearer 10 may include feedback relatedto proper and improper movements (magnitude, direction, velocity) ordeviation from a specified or desired coordination pattern whileperforming a task, a therapy or a treatment, etc., a message that athreshold or target count has been met for a repetitive movement, analert that a recommended movement limit is being approached or has beenexceeded, etc.

The computing device 36 may be configured to store and/or analyze thesignals and/or measurements generated by the sensing device 16. Thecomputing device 36 may be configured to, by way of example, analyze themovements corresponding to the signals and/or measurements, to identifypatterns of movements, to count repetitions of movements, to generatemessages, alerts, reports and/or other forms of output based on theinformation generated by and/or obtained from the sensing device 16. Ina non-limiting example, information (signals, measurements) may becollected from a wearer 10 configured with one or more sensing devices16 during performance of a particular task, to identify and classifypatterns of movement inherent in the particular tasks. Analysis of thepatterns of movement may be used to redesign the task or environmentwithin which the task is performed, to develop training of an optimizedmethod or sequence for performing the task, etc.

The processor 20 may be configured to receive and process the outputsignals and/or measurements generated by the sensor 19 and/or sensingdevice 16. The processor 20 may also be configured as and/or referredto, by way of non-limiting example, as a circuit, a circuit board, aconditioning circuit, a signal processor, or a printed circuit boardassembly (PCBA). The processor 20 may be configured to process theoutput signals and/or measurements defined by the output signals by oneor more of filtering, amplifying, counting, transmitting, converting(for example, from analog to digital), recording, and storing the outputsignals and/or measurements. The processor 20 may be operativelyconnected to the sensor 19 and/or the sensing device 16 (see FIG. 2B),or may be configured as a remote device which may be in wirelesscommunication with the sensing device 16 (as described for FIGS. 3A-3B).

The sensing device 16 may include a plurality of sensors 19 and/ortriggering mechanisms 12, wherein one or more of the triggeringmechanisms 12 may be configured to exert an input force on one or moresensors 19, and one or more sensors 19 may be in communication with aprocessor 20. The distance between the processor and one or more sensorsoperatively connected to the processor may be varied, for example, byusing sensor leads, wires, and/or cables of variable length, or otherconnecting means to facilitate placement and attachment of the processor20 to another portion of the covering 15 other than the second portion26 and/or adjacent to or directly connected to the sensor 16, or asrequired to configure the processor 20 to receive and process signaloutputs from a plurality of sensing devices 16 and/or sensors 19operatively attached to the covering 15.

Other measures, such as the velocity or acceleration of a signal, whichmay correspond to the velocity or acceleration of a movement, may bemonitored. Threshold values can be established for measures, such thatonly values meeting the threshold values are recorded, for example, toeliminate signal values associated with incidental or non-studiedmovements or signal noise. The threshold value may be a value which mustbe exceeded or alternatively, a threshold value may be a value whichmust not be exceeded, depending on the objective of the measurement ormonitoring study.

Mechanical or electrical means may be provided to isolate or filtersignal values which do not meet an established threshold level, wherethe threshold level may be defined as either a minimum or maximum valueto be met. Signal values may be isolated or filtered, for example, usingthe processor 20. As another example, an intermediate mechanism 22, aswill be described in further detail, may be used to isolate or filterforce inputs from a triggering mechanism 12. As shown in FIG. 1, apreceding mechanism 30 may be configured in operative communication toat least one of the triggering mechanism 12, the sensor 19 and theprocessor 20, wherein the preceding mechanism 30 may be configured toprovide a signal output or actuating input at a threshold level as aprerequisite to activating the triggering mechanism 12, generating anoutput signal from sensor 19, and/or processing a signal or measurementusing the processor 20. As illustrated by FIG. 1, the precedingmechanism 30 may be, for example, operatively attached to a thirdcovering portion 32, where the third covering portion 32 is configuredto be in contact with a portion of the body 10. The third coveringportion 32 may be in contact with another body segment, e.g., a bodysegment other than the moving segment 17 or reference segment 18, ajoint which may be the joint center 14 or another joint, or anotherportion of the body 10. The preceding mechanism 30 may be configuredsimilarly to one of a triggering mechanism 12, an intermediate mechanism22, or of another configuration. For example, the preceding mechanism 30may include a conductive textile, which may be integrated into thecovering 15, and configured to provide a threshold voltage to one of thesensor 19 and the processor 20 as a prerequisite to the sensor 19generating an output signal, or as a filtering input to the processor20. Dependent measures collected from the sensor output signals can betransferred or transmitted to the computing device 36 or to anotherremote device for analysis through several means.

As referred to herein, a body segment, as that term is generally used,and including but is not limited to a moving body segment 17 and areference body segment 18, refers to a portion (segment) of the bodysuch as a head, torso, arm, forearm, hand, thigh, leg, or foot of thebody 10. A body segment may be comprised of a bone or a combination ofbones, where the combination of bones may define a body segment. Forexample, the upper leg may be, by itself, a body segment. As anotherexample, the leg, e.g., the combination of the upper leg and the lowerleg, may define a body segment. As another example, and referringgenerally now to a hand, a first segment may be defined by a metacarpalconnecting the wrist bones to a particular finger, and a second segmentmay be defined by one of or a combination of the phalanges forming thatparticular finger. In yet another example, a singular vertebra maycomprise a body segment, and a portion of the spine including aplurality of vertebrae may comprise another body segment. The term bodysegment or segment, as used herein, is not intended to be limiting, andmay be used to refer to any portion of the body which includes a jointcenter between that portion of the body and another segment of the body.The sensing device 16 may be configured such that the first coveringportion 24 may be positioned in contact with a moving segment 17 and thesecond covering portion 26 may be positioned in contact with a referencesegment 18 wherein the moving segment 17 and the reference segment 18may be one of adjacent and non-adjacent to each other.

As referred to herein, a joint center refers to the center of a joint ofthe body 10 which may be located between two adjacent or non-adjacentbody segments. Joint centers located between adjacent body segments mayinclude, for example, the joint centers commonly known as the shoulder,elbow, wrist, trunk, neck, hip, knee, and ankle. The term joint center,as used herein, is not intended to be limiting, and may be used toreference the center of a singular joint, such as a hip joint, or may beused to reference the center of a combination of joints, for example,the center of a plurality of vertebrae. A joint center defined bynon-adjacent body segments may contain the adjacent segments and theirrespective joint centers located between the non-adjacent body segments.

A joint angle, as referred to herein, is the angle defined by twoadjacent or non-adjacent body segments and a joint center between thebody segments, where the endpoint of the angle corresponds with thejoint origin. For example, a joint angle may be defined by the upper armsegment, forearm and elbow, where the endpoint of the joint anglecoincides with the elbow joint and the upper arm and forearm areadjacent body segments. As another example, a joint angle may be definedby the head, upper arm and neck, where the endpoint of the joint anglecoincides with the neck joint and the head and upper arm arenon-adjacent body segments. Referring to FIGS. 3A-3B, a joint angle maybe defined by the joint center of non-adjacent vertebrae. In the exampleshown, the joint angle is defined by a joint center located between, forpurposes of illustration, a vertebra generally indicated at 17, and anon-adjacent vertebra generally indicated at 18. In the example shown inFIGS. 3A-3B, the non-adjacent vertebra may be, for example, the C1 andT12 vertebrae, respectively. Accordingly, in the FIGS. 3A-3B, thesensing device 16 is configured to measure the movement of non-adjacentbody segments 17, 18, and the sensing device 16 is configured such thatthe triggering mechanism 12 is extended across multiple joints and bodysegments, including the joint center measured by the joint angle θ shownin FIGS. 3A-3B corresponding to a first position and a second positionof the body 10.

Further, as referred to herein, the term proximal is understood to bedefined as located between the reference point and the center of mass ofthe body, and the term distal is defined as located outward of thereference point relative to the center of mass of the body. For example,a location on the body described as distal of the shoulder joint, usingthe shoulder joint as the reference point, is a location on the arm,forearm, hand or arm limb generally, e.g., outboard or outward of theshoulder joint with respect to the center of mass of the body.Additionally, for example, a location on the body described as proximalof the shoulder joint, using the shoulder joint as a reference point, isa location on the body which is inward of the shoulder joint, e.g.,located on the torso, head, leg, limb or any other body location whichis closer to the center of mass of the body than the reference shoulderjoint. The sensing device 16 may be configured such that the firstcovering portion 24 may be positioned in contact with a moving segment17 and the second covering portion 26 may be positioned in contact witha reference segment 18 wherein the moving segment 17 is one of distaland proximal to the reference segment 18, and/or wherein the movingsegment 17 is one of proximal and distal to the joint center 14 locatedbetween in segments 17, 18, and the reference segment 18 is the other ofproximal and distal to the joint center 14.

Further, as referred to herein, the term contralateral is understood tobe defined as located on opposite sides of the body, for example, theleft hand is contralateral to the right hand, the right arm iscontralateral to the left leg, and the left side of the back iscontralateral to the right side of the back. One or more joints andjoint centers may be located between two adjacent or non-adjacentcontralateral body segments. For example, the spine joint is locatedbetween the right and left sides of the back, which represent adjacentcontralateral body segments. Additionally, for example, the neck jointis located between the right hand and left hand, which representnon-adjacent contralateral body segments. The sensing device 16 may beconfigured such that the first covering portion 24 may be positioned incontact with a moving segment 17 and the second covering portion 26 maybe positioned in contact with a reference segment 18 wherein the movingsegment 17 may be contralateral to the reference segment 18 and thesegments 17, 18 may be one of adjacent and non-adjacent to each other.

For example, a sensing device 16 (not shown) may be configured tomeasure the movement of adjacent contralateral segments such as theright and left sides of the torso, relative to joints in the spine. Insuch a configuration, the sensor 19 is attached to a first coveringportion 24 of a covering 15 in contact with the right side of the torsoand the first end of the triggering mechanism 12 is attached to a secondcovering portion 26 of a covering 15 in contact with the left side ofthe torso, such that triggering mechanism 12 extends from a first bodysegment, the right side of the torso, to a second body segment, the leftside of the torso, while extending or crossing over the spine joint 14therebetween, such that movement of the adjacent contralateral bodysegments may be measured. The covering 15 may be configured, forexample, as a band or sleeve including the first covering portion 24 andthe second covering portion 26, the covering 15 configured to surroundthe torso such that the covering 15 is in contact with the perimetersurface of the torso of the body 10 being measured.

In another example, the sensing device 16 may be configured to measurethe movement of non-adjacent contralateral segments such as the rightleg and the left leg, relative to the hip joints. In such aconfiguration, the sensor is attached to a second covering portion 26 ofa covering 15 in contact with the right leg and the first end of thetriggering mechanism 12 is attached to a first covering portion 24 ofthe covering 15 in contact with the left leg, such that triggeringmechanism 12 extends from a first body segment, the right leg, to asecond body segment, the left leg, while extending or crossing over theleft and right hip joints therebetween, such that movement of thenon-adjacent contralateral body segments may be measured. The covering15 may be configured, for example, as a pant or trouser which may beworn on the body 10 being measured.

As referred to herein, the term ipsilateral is understood to be definedas located on the same side of the body, for example, the left arm isipsilateral to the left leg, the right side of the back is ipsilateralto the right arm, the left side of the back is ipsilateral to the leftfoot. One or more joints and joint centers may be located between twoadjacent or non-adjacent ipsilateral body segments. For example, theright shoulder joint is located between the right side of the back andthe right arm, which represent adjacent ipsilateral body segments.Additionally, for example, the left hip joint is located between theleft leg and left arm, which represent non-adjacent ipsilateral bodysegments. The sensing device 16 may be configured such that the firstcovering portion 24 may be positioned in contact with a moving segment17 and the second covering portion 26 may be positioned in contact witha reference segment 18 wherein the moving segment 17 may be ipsilateralto the reference segment 18 and the segments 17, 18 may be one ofadjacent and non-adjacent to each other. For example, the sensing device16 may be configured to measure the movement of non-adjacent ipsilateralsegments such as the left hand, relative to the left arm. In such aconfiguration, the input interface 11 and sensor 19 is located in asecond covering portion 26 of the covering 15 in contact with the leftarm and the second attachment point 13 is located in a first coveringportion 24 of the covering 15 in contact with the left hand, such thattriggering mechanism 12 extends from a reference body segment, the leftarm, to a moving body segment, the left hand, while extending orcrossing over the left elbow and wrist joints therebetween, such thatmovement of the non-adjacent ipsilateral body segments may be measured.

In another example, the sensing device 16 may be configured to measurethe movement of adjacent ipsilateral segments such as the right side ofthe torso and the right upper arm, relative to the right shoulder joint,as shown in FIGS. 2A and 2B. In such a configuration, the sensor 19 isattached to a second covering portion 26 of the covering 15 in contactwith the right side of the torso, and the first end of the triggeringmechanism 12 is attached to a first covering portion 24 of covering 15in contact with the right upper arm, such that triggering mechanism 12extends from a reference body segment 18, the right side of the torso,to a moving body segment 17, the right upper arm, while extending orcrossing over the shoulder joint 14 therebetween, such that movement ofthe adjacent ipsilateral body segments may be measured to determine thejoint angle θ as shown in FIGS. 2A and 2B. The covering 15, in thenon-limiting example shown in FIGS. 2A and 2B, is configured as agarment, which in the present example, is configured as a shirt.

As described previously and illustrated by FIG. 2B, the sensing device16 may be configured such that the first covering portion 24 may bepositioned in contact with a moving segment 17 and the second coveringportion 26 may be positioned in contact with a reference segment 18wherein the moving segment 17 is distal to the joint center 14 and thereference segment 18 is proximal to the joint center 14. As shown inFIG. 2B, the sensing device 16 can be attached to covering 15 such thatfirst end of the triggering mechanism 12 can be placed distal torelative to joint center 14 at attachment 13 and the sensor 19 can beanchored proximal relative to the joint center 14.

In an alternate configuration (not shown), the sensing device 16 may beconfigured with the orientation of the first end of triggering mechanism12 and the sensor 19 opposite to the configuration shown in FIG. 2B,such that the first end of the triggering mechanism may be attached tothe second portion 26 (referring to FIG. 2B) in contact with thereference body segment 18, and sensor 19 may be attached the firstcovering portion 24 (referring to FIG. 2B) in contact with the movingsegment 17. Thus configured, the sensing device is located distal to thejoint center 14, and the triggering mechanism is extended from themoving segment 17 across the joint center 14 to a covering portion incontact with the reference segment 18.

FIGS. 3A and 3B show, as described previously, a sensing device 16configured to provide an output corresponding to a joint angle θ definedby a vertebra generally indicated at 17, a non-adjacent vertebragenerally indicated at 18, and a joint center 14 (see FIG. 3B) locatedbetween and defining the apex of the joint angle θ. In the example shownin FIGS. 3A-3B, the non-adjacent vertebra may be, for example, the C1vertebra (generally indicated at 17) and the T12 vertebra (generallyindicated at 18), respectively. Accordingly, in the FIGS. 3A-3B, thesensing device 16 is configured to measure the movement of non-adjacentbody segments 17, 18, where the triggering mechanism 12 is extendedacross multiple joints and body segments, including the joint centermeasured by the joint angle θ₁ shown in FIG. 3A and corresponding to afirst body position and the joint angle θ₂ shown in FIG. 3B andcorresponding to a second position of the body 10. The sensing device 16shown in FIGS. 3A and 3B may be included in a system such as the system40 shown in FIG. 1. In a non-limiting example, the sensing device 16 maybe configured to wirelessly communicate with a remote processor 20and/or a remote output device 34 such that the sensing device 16 maytransfer the output signals from the sensor 19 to the remote processoras the performer moves from a preferred posture, e.g., the firstposition shown in FIG. 3A to a less desirable posture, e.g., the secondposition shown in FIG. 3B. The remote processor 20 may, upon detectingmovement to the less desirable posture, provide a message to theperformer, which may be displayed on the output device 34, to make anadjustment in his posture to the preferred position.

As shown in the non-limiting examples in FIGS. 2B-3B and 5A-6C, thetriggering mechanism 12 when actuated by a movement of the movablesegment 17 is operatively connected to the input interface 11 such thatthe force input produced by the triggering mechanism 12 is inputteddirectly to the sensor 19. As discussed previously, and as shown inFIGS. 4A-4D, 7A and 8A-8B, an intermediate device 22 may be interposedbetween the input interface 11 of the sensor 19 and the triggeringmechanism 12, such that the activation of the intermediate mechanism 22generates an input force to the interface 11 and the sensor 19. Theintermediate mechanism 22 may be configured to filter or isolate theinput force generated by the triggering mechanism 12 in response to aactivating movement of the movable member 17 from the sensor 19 when theinput force generated by the triggering mechanism 12 does not meet athreshold input force predetermined for the sensing device 16, and/orthe corresponding movement does not meet a threshold level predeterminedfor the sensing device 16. Such a configuration provides the advantageof preventing inadvertent or non-intentional inputs to the sensor 19,which may cause noise in the signal data logged, and/or provides afilter to segment the output signals, e.g., to truncate the distributionof the unfiltered output signals to focus monitoring and analysis in atarget range of movement. As used herein, “unfiltered output signals”refer to the population of output signals which would be generated by asensing device 16 configured without an intermediate mechanism 22.

Various configurations of an intermediate mechanism 22 are possible, andthe examples shown and described herein are intended to be non-limiting.As shown in a first example configuration in FIG. 4A, the intermediatemechanism 22 may be configured as a cam 22 in selective contact with asensor contact 44 and operatively connected to the first end of thetriggering mechanism 12 at attachment 42. In the example shown in FIG.4A, the sensor contact 44 is configured as a cam follower, and the inputinterface 11 is defined by the contact profile between the surfaces ofthe cam 22 and the cam follower 44, where increasing interferencebetween the surfaces causes an upward deflection of the cam follower 44(as illustrated in the drawing) in the direction w, and decreasedinterference between the surfaces causes decreased or little to nodeflection of the cam follower 44. As shown in FIG. 4A, when thetriggering mechanism 12 is initially activated by a movement of amovable joint 17, the triggering mechanism 12 exerts a tensile force atattachment 42 in a direction X on the cam 22, causing the cam 22 torotate in a direction ω. The cam 22 is configured such that the surfaceof the cam rotates away from the surface of the cam follower 44,decreasing the pressure exerted by the cam 22 on the cam follower 44,thereby decreasing the deflection of the cam follower 44 and isolatingand/or filtering the sensor 19 from the input force generated by thetriggering mechanism 12. As the input force generated by the triggeringmechanism 12 increases above a threshold level, the cam 22 is furtherrotated in a direction w such that the base circle portion of the cam 22contacts the cam follower, increasing the pressure on the cam followerand causing it to deflect upward (as oriented on the drawing page). Theupward deflection provides an actuating force through interface 11 andthe cam follower 44 to the sensor 19, causing the sensor 19 to generatean output signal corresponding to the input force of the triggeringmechanism 12 and the activating movement of the moving segment 17.

In another configuration shown in FIG. 4B, the intermediate mechanism 22may be configured as a reel or spool 22 including a contact element 46which may be selectively rotated in selective contact with the inputinterface 11 of a sensor contact 44. The reel 22 is operativelyconnected to the first end of the triggering mechanism 12, wherein alength or portion of the triggering mechanism may be wrapped around theaxis of the reel 22, such that the triggering mechanism 12 may beactivated to exert a tensile force in a direction X below a thresholdlevel without causing sufficient rotation of the reel 22 and the contactelement 46 in a direction w, such that below a threshold level thecontact element 46 exerts minimal to no pressure against the inputinterface 11. In the example shown in FIG. 4A, the sensor contact 44 maybe configured as a pressure transducer, for example, such that rotationof the contact element 46 in contact with and against the inputinterface 11 may exert a pressure on the pressure transducer 44, therebycausing the pressure transducer 44 to actuate the sensor 19 to generatean output signal. As shown in FIG. 4A, when the triggering mechanism 12is initially activated by a movement of a movable joint 17, thetriggering mechanism 12 exerts a tensile force in the direction X, whichinitially takes up any slack in the triggering mechanism 12 where it iswrapped around and/or attached to the axis of the reel 22. As thetensile force exerted by the triggering mechanism increases, the reel 22and the contact element 46 attached thereto rotate in a direction ω.When the tensile force exerted by the triggering mechanism 12 reaches athreshold level, the reel 22 and the contact element 46 are sufficientlyrotated such that the contact element 46 makes contact with the inputinterface 11 of the pressure transducer 44, actuating the sensor togenerate an output signal corresponding to the input force of thetriggering mechanism 12 and the activating movement of the movingsegment 17.

In another configuration shown in FIG. 4C, the intermediate mechanism 22may be configured as a connector 42 including a secondary triggeringmechanism 38, which may also be referred to herein as a secondarymechanism. The first end of the triggering mechanism 12 is operativelyconnected to the connector 42, and a first end of a secondary mechanism38 is operatively connected to the input interface 11 of the sensor 19.The connector 42 may be of any configuration suitable to operativelyconnect the triggering mechanism 12 to the secondary mechanism 38. In anon-limiting example, the secondary mechanism 38 may be configured of amaterial having a higher spring coefficient than the spring coefficientof the triggering mechanism 12, such that the secondary mechanism 38will filter and/or isolate the tensile input force of the triggeringmechanism 12 until a predetermined threshold is reached. The secondarymechanism 38 may comprise an elastic material, a spring, a spring-likeelement, or another configuration or material providing the higherspring coefficient. As shown in FIG. 4C and described herein, below athreshold level the tensile force exerted by the triggering mechanism 12in a direction X is insufficient to activate (extend) the secondarymechanism 38 sufficiently to transfer an input force to the inputinterface 11 of the sensor 11. When the tensile force exerted by thetriggering mechanism 12 reaches or exceeds the predetermined thresholdlevel, the triggering mechanism 12 exerts sufficient force to cause thesecondary mechanism 38 to exert an input force on the sensor 19, therebyactuating the sensor to generate an output signal corresponding to theinput force of the triggering mechanism 12 and the activating movementof the moving segment 17.

FIG. 8B shows an intermediate mechanism 22A configured similarly to theconfiguration described for FIG. 4C, and as an optional construction ofthe sensing device 16A shown in FIG. 7A. The intermediate mechanism 22Aincludes a secondary mechanism 38A configured as a spring attached atone end to the input interface 11A of the sensor 19A and at the otherend to a connector 42A configured as a loop through which the triggeringmechanism 12 is passed, such that the triggering mechanism 12, whenextended, exerts a tensile force on the loop 42A and the spring 38A. Theintermediate mechanism 22A operates as described for FIG. 4C, howeverthe loop 42A provides an additional isolating and/or filtering feature.As the triggering mechanism 12 is extended in response to an increase inthe joint angle θ_(A), the triggering mechanism 12 may extend in lengthbefore contacting, e.g., interfering with, the loop 42A to begin toexert a tensile force on the secondary mechanism 22A, thereby isolatingthe input force exerted by the triggering mechanism 12 from the springelement 38A and the sensor 19.

Referring now to FIG. 8A, the intermediate mechanism 22A is shown in asimplified configuration, where the intermediate mechanism 22A isconfigured as a loop operatively connected to the sensor 19, such thatthe loop 22A defines the input interface 11A. As previously described,the triggering mechanism 12 which is passed through the loop 22A mayextend in length before contacting and meeting sufficient resistancefrom the loop 22A to exert an input force above a threshold level.Accordingly, until the triggering mechanism 12A engages the loop 22A inresistive contact, the loop 22A effectively isolates and/or filters thesensor 19A from an input force below the threshold level. When thetriggering mechanism 12A is extended sufficient due to the activatingmovement of the segments 17A, 18 to exert a tensile force on the loop22A, the tensile force may be transferred via the loop 22A to the inputinterface 11A of the sensor 19A, the triggering mechanism 12A actuatingthe sensor to generate an output signal corresponding to the input forceof the triggering mechanism 12A and the activating relative movement ofthe segment 17A, 18A (see FIG. 7A).

Referring now to FIG. 4D, another non-limiting example configuration ofan intermediate mechanism is shown. The intermediate mechanism 22 may beconfigured as a frictional element 22 slidable engaged with an inputinterface 11 of the connector 22, such that sliding displacement of thefrictional element 22 in a direction X produces an actuating input tothe input interface 11. The frictional element 22 is operativelyconnected to a first end of the triggering mechanism 12 at attachment42. The intermediate mechanism is configured such that the frictionalforce f at the input interface 11 which must be overcome prior toinitiating sliding movement and displacement of the frictional element22 from its initial position is greater than the input force exerted bythe triggering mechanism 12 below a predetermined threshold level. Asshown in FIG. 4D and described herein, below a threshold level thetensile force exerted by the triggering mechanism 12 in a direction X₁is insufficient to overcome the frictional force f resisting the slidingmovement of the friction element 22 in a direction X2, such that thefriction element 22 is not displace in a direction X₂ and the inputforce exerted by the triggering mechanism 12 below the threshold levelis isolated from the sensor 19. When the tensile force exerted by thetriggering mechanism 12 reaches or exceeds the predetermined thresholdlevel, e.g., reaches a sufficient input force to overcome the frictionalresistance f between the frictional element 22 and the interface 11, thefrictional element 22 is displaced in a direction X₂ proportional to themagnitude of the input force exceeding the threshold level. Thedisplacement of the frictional element 22 relative to the interface 11actuates the sensor to generate an output signal corresponding to theinput force of the triggering mechanism 12 and the activating movementof the moving segment 17.

The configurations shown in FIGS. 4A-4D and 8A-8B are not intended to belimiting. Alternative methods and materials not shown but within thescope of the sensing device described herein can be used to convert atensile load of the triggering mechanism 12 to an actuation orperturbation of the sensor. For example, conductive threads may beintegrated in the covering 15 and configured to provide an intermediatemechanism 22. Other cam-type mechanisms or mechanical mechanisms may beused as a force transferring mechanism 22 to transfer the force load ofthe triggering mechanism 12 to actuate the sensor 19. Not shown, butunderstood, an intermediate mechanism 22 may be configured to isolatethe sensor 19 from input loads above a maximum level, for example, toprotect the sensor from overloading. The configurations as describedherein or other configurations including, for example, cams, secondarymechanisms, disconnect features or mechanically biased features may bemodified or adapted, for example, to filter or isolate potentiallydamaging or aberrant loads from actuating the sensor 19.

FIG. 5A through FIG. 10 show non-limiting examples of a sensing device16 configured for the measurement of movements of various joint andsegment configurations. The sensing devices 16 illustrated in FIG. 5Athrough FIG. 10 are configured to operate substantially similar tosensing devices 16 as previously described.

In a non-limiting example, FIG. 5A shows a sensing device 16 configuredto measure the movement of adjacent ipsilateral segments 17, 18, shownas the upper leg 18 and the lower leg 17, relative to the knee joint 14.In the configuration shown, the sensor 19 is attached to a secondcovering portion 26 of a covering 15 in contact with the upper legsegment 18 and the first end of the triggering mechanism 12 is attachedto a first covering portion 24 of the covering 15 in contact with thelower leg segment 17, such that triggering mechanism 12 extends from areference segment 18, the upper leg, to a moving body segment, the lowerleg, while extending or crossing over the posterior surface of the kneejoint therebetween, such that movement of the adjacent ipsilateral bodysegments 17, 18, including a joint angle θ defined by the segments 17,18and having its origin coincident with the joint center 14, may bemeasured. The covering 15 may be configured, as in the example shown, asa sleeve which may be slidably positioned in contact with knee joint 14and the upper and lower leg portions adjacent to the knee joint 14. Thetriggering mechanism 12 may be extended along an external surface of thesleeve 15 or may be integrated into the sleeve 15 in a manner which doesnot constrain activation of the triggering mechanism in response to amovement of the movable segment 17.

In another non-limiting example, FIG. 5B shows a sensing device 16configured to measure the movement of the upper leg 18 and the lower leg17, relative to the knee joint 14. In the configuration shown, thesensor 19 is attached to a second covering portion 26 of a covering 15in contact with the upper leg segment 18 and the first end of thetriggering mechanism 12 is attached to a first covering portion 24 ofthe covering 15 in contact with the lower leg segment 17, such thattriggering mechanism 12 extends from a reference segment 18, the upperleg, to a moving body segment, the lower leg, while extending orcrossing the posterior of the knee joint therebetween, such thatmovement of the adjacent ipsilateral body segments 17, 18, including ajoint angle θ defined by the segments 17,18 and having its origincoincident with the joint center 14, may be measured. The covering 15may be configured, as in the example shown, as a sleeve which may beslidably positioned in contact with knee joint 14 and the upper andlower leg portions adjacent to the knee joint 14. The triggeringmechanism 12 is extended from an external surface of the first coveringportion 24 to the sensor 19 attached to the second covering portion 26,such that the triggering mechanism is generally not in contact with thesurface of sleeve 15 for joint angles less than 180 degrees.

FIGS. 6A and 6B show a sensing device 16 configured to measure thetranslation of the knee joint 14 with respect to the upper leg segment18 and the lower leg lower leg segment 17. In the configuration shown,the covering 15 of the sensing device 16 is oriented in contact with theknee joint 14 and the upper and lower leg portions adjacent to the kneejoint 14, such that the sensor 19 is attached to a second coveringportion 26 of a covering 15 in contact with a lateral surface of theupper leg segment 18 and the first end of the triggering mechanism 12 isattached to a first covering portion 24 of the covering 15 in contactwith a lateral surface of the lower leg segment 17, such that triggeringmechanism 12 extends from a reference segment 18, the upper leg, to amoving body segment 17, the lower leg, while extending or crossinglaterally over the knee joint 14 therebetween. When the adjacentipsilateral body segments 17, 18 are translated relative to each otherby exerting a force F1 shown in FIG. 6A and/or a force F2 shown in FIG.6B, the triggering mechanism 12 changes in length thereby changing theinput force exerted on the sensor 19, such that the translation distancemay be measured.

FIG. 6C shows a sensing device 16 configured to measure the translationof the knee joint 14 with respect to the upper leg segment 18 and thelower leg lower leg segment 17, when a force F is exerted on the joint14. In the configuration shown, the covering 15 of the sensing device 16is oriented in contact with the knee joint 14 and the upper and lowerleg portions adjacent to the knee joint 14, such that the sensor 19 isattached to a second covering portion 26 of a covering 15 in contactwith a medial surface of the upper leg segment 18 and the first end ofthe triggering mechanism 12 is attached to a first covering portion 24of the covering 15 in contact with a medial surface of the lower legsegment 17, such that triggering mechanism 12 extends from a referencesegment 18, the upper leg, to a moving body segment 17, the lower leg,while extending or crossing laterally over the knee joint 14therebetween. When a force F is exerted on the moving segments thetriggering mechanism 12 exerts a tensile force on the input interface 11of the sensor 19, thereby actuating the sensor to generate an outputsignal corresponding to the translation distance of the knee joint. Thefirst covering portion 24 and the second covering portion 26 in thenon-limiting example shown are each configured as a band or strap, whichmay be, for example, an elasticized band slidably positioned in contactwith the leg segment, or may be, for example, configured with a one ormore fasteners, which may be adjustable fasteners, such as hook and eyefasteners, such that the covering portion may be wrapped around the bodysegment and adjustably fastened in contact with the appropriate surfaceof the respective body segment.

As shown in FIG. 7A, more than one sensing device 16A, 16B may bepositioned in contact with a moving body portion, to facilitateconcurrent measurement of the movement of more than one combination ofbody segments. This configuration may provide improvements in testingefficiency, where more than one test sharing a similar movement patternmay be conducted concurrently, or testing set-up time may be decreasedby positioning more than one sensing device on the wearer in a singlesession. Concurrent testing using more than one sensing device may berequired to correlate measurements of movements obtained from thedifferent sensing devices, or to analyze for interactions in themovement patterns measured by each sensing device. Not shown butunderstood, the multiple sensors 19A, 19B may each be configured totransmit output signals to a shared processor 20 to a shared memorydevice, wherein the processor and/or the memory device may be located onone of the coverings, such as the covering 15A, or which may be locatedremotely, for example, where the sensing devices 16A, 16B and the remoteprocessor 20 and/or memory device may be configured for wirelesscommunication.

FIG. 7A shows a first sensing device 16A configured to measure themovement of non-adjacent segments relative to a non-adjacent jointcenter 14A, where the sensing device 16A is configured such that thesensor 19A is positioned over the joint center 14A, which may be, forexample, a joint located between two carpal bones. The triggeringmechanism 12A is operatively attached to the first and second bodysegments, e.g., to the metacarpal of the thumb and the phalange of theindex finger, at respective attachments 13A and 13A2 and to a connector22A, through which the triggering mechanism 12A exerts an input load onthe sensor 19A. As described previously, the connector 22A may beconfigured as an intermediate mechanism configured to isolate and/orfilter input forces from the sensor 10 where the input force exerted onthe connector 22A does not meet a predetermined threshold or condition.As is shown in FIG. 7A, as the thumb moves away from the metatarsaland/or the proximal phalange of the index finger, the joint angle θ_(A)increases and the triggering mechanism is extended, such that thetriggering mechanism may exert a tensile force on the connector 22Awhich may be transferred as a force input to the input interface 11A ofthe sensor 19A. The sensor 19A, when actuated by the tensile forceinput, may generate an output signal corresponding to the measuredchange in the joint angle θ_(A). The covering 15A is configured, in anon-limiting example, as a portion of a glove, which may be slidablypositioned over the index finger, the thumb and the wrist. Otherconfigurations of the covering 15A of the sensing device 16A arepossible, and may include one or more covering portions which may beconfigured to as a band, sleeve or strap slidably positioned oradjustably fastened to the appropriate position on a finger or wristportion, or may be configured as a pad or patch, for example, which maybe positioned in contact with the appropriate position for example, withan adhesive or other removable fastener.

FIGS. 7A and 7B show a second sensing device 16B configured to measurethe movement of adjacent phalange segments 17B, 18B relative to aknuckle joint located therebetween, in an individual finger. As shown inFIG. 7A, the moving segment 17B is shown as the intermediate phalange ofthe finger commonly referred to as the ring finger, and the referencesegment 18B is shown as the proximal phalange of the ring finger. Thefirst end of the triggering mechanism 12B is operatively attached to afirst covering portion 24B at 13B and the second end of the triggeringmechanism 12B is operatively connected to the sensor 19B at an inputinterface 11B. The sensor 19B is operatively attached to a secondcovering portion 26B. The covering portions 24B and 26B, as shown in thenon-limiting example of FIG. 7A, may be configured as adhesive patcheswhich may be positioned in contact with the respective segments 17B,18B. Alternatively, the covering portions 24B, 26B may be configured asshown in FIG. 9, as generally annular shaped elements, such as rings,bands or straps, which may be slide onto the finger or adjustablyfastener thereon. The covering portions 24B, 26B may be configured asportions of a sleeve (not shown) or a glove or glove portion, or in anyother configuration which may be positioned over the phalange segments17B, 18B to position the sensing device 16B such that the triggeringmechanism 12 may be extended to cross over the anterior surface of theknuckle joint 14B. As shown in FIG. 7B, movement of the phalangesegments 17B, 18B from a first position to a second position activatesthe triggering mechanism 12B to provide an input force to the sensor19B, thereby actuating the sensor 19B to generate an output signalcorresponding to a measurement of the movement of the segments 17B, 18Brelative to the joint 14B. For example, the segments 17B, 18B may bemoved from a first position corresponding to a joint angle θ_(B1) to asecond position corresponding to a joint angle θ_(B2) as shown in FIG.7A.

FIG. 9 shows sensing device 16C which illustrates an alternativeconfiguration for the sensing device 16A shown in FIG. 7A. As shown inFIG. 9, a triggering mechanism 12C is extended between an attachment 13Cto a first covering portion 24C and a sensor 19C operatively attached toa second covering portion 26C. The sensing device 16C is configured tomeasure the same joint angle θ_(A). As the thumb moves away from themetacarpal and/or the proximal phalange of the index finger, the jointangle θ_(A) increases and the triggering mechanism 12C is extended toexert a tensile input force on the sensor 19C, actuating the sensor 19Cto generate an output signal corresponding to the joint angle θ_(A).

In another non-limiting example, FIG. 10 shows a sensing device 12Dincluding a plurality of triggering mechanisms 12 _(D1), 12 _(D2), 12_(D3), each configured to provide an input force to a shared sensor 19D.The covering 15D is configured as a glove, and each of the triggeringmechanisms 12 _(D1), 12 _(D2), 12 _(D3) is configured to measure themovement of non-adjacent segments of the hand, where each of the firstend of each of the triggering mechanism 12 _(D1), 12 _(D2), 12 _(D3) areoperatively attached at a respective distal phalange of the digitscommonly referred to, respectively, as the thumb, index finger and ringfinger, and where the second end of each of the triggering mechanisms isoperatively connected to the sensor 19D positioned in contact with thecarpals, e.g., the wrist. Each of the triggering mechanisms 12 _(D1), 12_(D2), 12 _(D3) extends and/or crosses over a respective joint center 14_(D1), 14 _(D2), 14 _(D3), generally indicated as the joint centercorresponding to the joint between the metacarpal and the proximatephalange of the respective digit. The sensing device 16D configured asshown in FIG. 10 may provide the opportunity to correlate and/oridentify patterns in the movements of multiple digits measured duringvarious hand movements.

It would be understood that a sensing device such as sensing device 16may be configured in a covering to measuring many different intra-limb,inter-limb and/or joint movements including combinations of various bodysegments and joints. Further, a covering may be instrumented with aplurality of sensing devices such that movements of multiple bodysegment and joint combinations can be measured simultaneously. Theoutput signals from the plurality of sensing devices may be recorded,collected and/or analyzed using circuitry and memory storage which maybe included in a device incorporated into the covering. Additionally, asensing device of plurality of sensing devices may be configured totransmit measurement data and signals using wireless methods such thatthe data collection, recording or memory storage device may be locatedremotely from the covering and/or wearer of the covering.

The use of a covering instrumented with a sensing device to measure themovement of a segment, limb or joint presents numerous advantages,including low cost, unobtrusive use, easy monitoring and flexibleconfigurations for use in measuring multiple joints. The method,apparatus and system described herein may be configured for measuringintra-limb, inter-limb and/or joint movements, and may be configured foruse related to any joint in the body, between any two adjacent ornon-adjacent body segments and may include individual joints orcombinations of joints including but not limited to the shoulder, elbow,wrist, trunk, neck, hip, knee, ankle, and/or joints contained in thehand and foot. Other configurations of the sensing device and systemdescribed herein are possible, and the figures and descriptions providedherein are not intended to be limiting. For example, the sensing deviceand/or system described herein is not limited to measurement of a humanbody, but may be applied to other moving bodies, which may includenon-human living bodies or other non-living moving or animated bodies,such as a body which is moved by electro-mechanical or mechanical means,for the measurement of movement thereof.

While the best modes for carrying out the invention have been describedin detail, those familiar with the art to which this invention relateswill recognize various alternative designs and embodiments forpracticing the invention within the scope of the appended claims.

1. A sensing device for sensing movement of a non-living movable body,the sensing device comprising: a sensor operatively attachable to acovering; a triggering mechanism operatively attachable at a first endto the covering and operatively connected at a second end to the sensor;wherein the covering includes first and second covering portions and ispositionable on a non-living movable body such that the first coveringportion is in contact with a first segment of the non-living movablebody and the second covering portion is positioned in contact with asecond segment of the non-living movable body; wherein, when the sensingdevice is attached to the covering and the covering is positioned incontact with the non-living movable body: one of the sensor and thefirst end is attached to one of the first and second covering portions,the other of the sensor and the first end is attached to the other ofthe first and second covering portions, and the triggering mechanismextends from the first segment to the second segment, such that amovement of one of the first and second segments activates thetriggering mechanism to provide an input to the sensor; and wherein theinput actuates the sensor to generate an output defined by the movement.2. The sensing device of claim 1, further comprising: an output deviceconfigured to receive the output from the sensor.
 3. The sensing deviceof claim 2, wherein the output device is configured to generate afeedback defined by the movement.
 4. The sensing device of claim 3,wherein the feedback includes one of an audio output, a visual output,and an audio-visual output.
 5. The sensing device of claim 3, whereinthe feedback includes an electronic output.
 6. The sensing device ofclaim 2, wherein: the output is one of a plurality of outputs receivedfrom the sensor; each output of the plurality of outputs is defined by arespective movement of a plurality of movements of the one of the firstand second segments; and the output device is configured to: receive theplurality of outputs from the sensor; and identify, using the pluralityoutputs, a pattern defined by the plurality of movements.
 7. The sensingdevice of claim 6, wherein the output device if further configured to:compare the output defined by the respective movement to the pattern;and identify a deviation of the respective movement from the pattern. 8.The sensing device of claim 2, wherein the output device is locatedremotely from the sensing device and the covering.
 9. The sensing deviceof claim 1, wherein the sensing device is configured for wirelesscommunication with the output device.
 10. The sensing device of claim 1,wherein the movement of the non-living movable body is a mechanicallyactuated movement.
 11. The sensing device of claim 1, wherein themovement of the non-living movable body is an electromechanicallyactuated movement.
 12. The sensing device of claim 1, wherein: thetriggering mechanism is a first triggering mechanism configured toprovide a first input to the sensor; the first input actuates the sensorto generate a first output defined by the movement of the one of thefirst and second segments; the device further comprising: the coveringincluding a third covering portion; wherein the third covering portionis positionable on the non-living movable body such that the thirdcovering portion is positioned in contact with a third segment of thenon-living movable body; a second triggering mechanism operativelyattachable at a first end to the third covering portion and operativelyconnected at a second end to the sensor; wherein the second triggeringmechanism extends from the third segment to the sensor such that amovement of the third segment activates the second triggering mechanismto provide a second input to the sensor; and wherein the second inputactuates the sensor to generate a second output defined by the movementof the third segment.
 13. The sensing device of claim 12, furthercomprising: an output device configured to receive the first and secondoutputs from the sensor; wherein one of the sensor and the output deviceis configured to correlate the first and second outputs.
 14. The sensingdevice of claim 12, further comprising: an output device configured toreceive the first and second outputs from the sensor; wherein one of thesensor and the output device is configured to identify a pattern in thefirst and second movements using the first and second outputs.
 15. Asystem for sensing movement of a non-living movable body, the systemcomprising: a sensing device including: a sensor operatively attachableto a covering; a triggering mechanism operatively attachable at a firstend to the covering and operatively connected at a second end to thesensor; wherein the covering includes first and second covering portionsand is positionable on a non-living movable body such that the firstcovering portion is in contact with a first segment of the non-livingmovable body and the second covering portion is positioned in contactwith a second segment of the non-living movable body; wherein, when thesensing device is attached to the covering and the covering ispositioned in contact with the non-living movable body: one of thesensor and the first end is attached to one of the first and secondcovering portions, the other of the sensor and the first end is attachedto the other of the first and second covering portions, and thetriggering mechanism extends from the first segment to the secondsegment, such that a movement of one of the first and second segmentsactivates the triggering mechanism to provide an input to the sensor;and wherein the input actuates the sensor to generate an output definedby the movement.
 16. The system of claim 15, further comprising: anoutput device configured to receive the output from the sensor.
 17. Thesystem of claim 16, wherein: the output is one of a plurality of outputsreceived from the sensor; each output of the plurality of outputs isdefined by a respective one of a plurality of movements of the one ofthe first and second segments; the output device is a computing deviceconfigured to: receive the plurality of outputs from the sensor; andidentify, using the plurality of movements, a task performed by thenon-living movable body.
 18. The system of claim 17, further comprisingthe computing device configured to: identify, using the plurality ofmovements, one of: a sequence of movements defining the task; and apattern of movements defining the task.
 19. The system of claim 15,further comprising a second sensing device operatively attachable to thecovering and actuable to generate a second output; wherein the secondoutput is defined by a movement of a third segment of the non-livingmovable body.
 20. A method for sensing movement of a non-living movablebody, the method comprising: attaching a sensing device to a coveringhaving first and second covering portions; wherein the covering ispositionable in contact with a non-living movable body such that thefirst covering portion is in contact with a first segment of thenon-living movable body and the second covering portion is in contactwith a second segment of the non-living movable body; wherein thesensing device comprises: a sensor operatively attachable to thecovering defining first and second covering portions; a triggeringmechanism operatively attachable at a first end to the covering; and thetriggering mechanism operatively connected at a second end to thesensor; wherein the covering is positionable on a body such that thefirst covering portion is in contact with a first segment of thenon-living movable body and the second covering portion is positioned incontact with a second segment of the non-living movable body; attachingone of the sensor and the first end to one of the first and secondcovering portions; attaching the other of the sensor and the first endto the other of the first and second covering portions, such that, whenthe covering is positioned in contact with the non-living movable body,the triggering mechanism extends from the first segment to the secondsegment; wherein movement of one of the first and second segments of thenon-living movable body activates the triggering mechanism to provide aninput to the sensor; generating, via the sensor, an output correspondingto the input; receiving the output to an output device in communicationwith the sensing device; outputting, via the output device, a feedbackdefined by the movement.